7603b07a20
Fix broken Linux build in 5fcdae771b.
...
PiperOrigin-RevId: 549338643
Change-Id: Icb2de7aa77ddb5d6c9bbf6a1140ef388ead5368c
2023-07-19 09:27:25 -07:00
e695a95efb
fix mjd_transitionFD comment
2023-07-14 13:50:57 -07:00
242aea93c6
Bump oldest supported MacOS to version 11.
...
PiperOrigin-RevId: 547479684
Change-Id: Idb6a432af0e7872ca087a0c571aafa72e9528818
2023-07-12 06:38:26 -07:00
77b3533d90
Improve mju_cross implementation.
...
- Allow in-place cross product a = a x b using `mju_cross(a, a, b)`.
- Easier for compiler to optimize since tmp cannot alias a or b (verified with godbolt).
PiperOrigin-RevId: 547265908
Change-Id: If965867e08c1bc980e71729e38f6855e32de18b2
2023-07-11 12:35:02 -07:00
e2677d6057
Check references for BVH data structure.
...
PiperOrigin-RevId: 547175700
Change-Id: I10e47f0c81ad25563d1f149bf4d2310ee515b1be
2023-07-11 06:49:20 -07:00
5cfbb6ac8b
Add mjd_quatIntegrate, expose mjd_subQuat.
...
PiperOrigin-RevId: 546252926
Change-Id: I7d6b2bd6536e7e8afc368f3c46037c20f6a1cb5e
2023-07-07 05:33:24 -07:00
2b38148d24
Explicitly zero out cinert of the world body.
...
Values of `cinert` are only set by `mj_comPos` for body 1 and above, which leaves the values for body 0 uninitialized. This triggers a `use-of-uninitialized-value` error under msan when the entire `cinert` array is read.
PiperOrigin-RevId: 545453619
Change-Id: I7bfdb4e4e33677903fc90c6ad070490aa65bf464
2023-07-04 08:26:02 -07:00
95167fab2d
Add utility function for merging directory names with filenames, and fix issue in mj_addfileVFS where directory names without trailing filesystem separators won't append correctly.
...
PiperOrigin-RevId: 545450158
Change-Id: I550394f11ac2837d35f3d869f8718a119a9eac38
2023-07-04 08:09:01 -07:00
82e85e24e5
Fix nv precounting bug for dense allocation in contact constraint.
...
PiperOrigin-RevId: 545441998
Change-Id: I12951d9022d78838a67d8e1d9d80d41b73e7c29d
2023-07-04 07:26:49 -07:00
bce2043762
Tighten const qualifiers in collision functions.
...
PiperOrigin-RevId: 543789453
Change-Id: I929c68b9100a093738c0de6c0965dab4ded1084b
2023-06-27 10:44:58 -07:00
a7021df63e
Add primitive sphere-cylinder collider.
...
PiperOrigin-RevId: 543586615
Change-Id: Icd47123e619f731f16dedfec25d825e44c24c036
2023-06-26 17:25:32 -07:00
1d6d6f33bf
Cosmetic clean-up and a few micro-optimisations for primitive colliders.
...
PiperOrigin-RevId: 543559919
Change-Id: I345ccbdca4303e82d1097a5a4bf9381c9f845617
2023-06-26 15:36:20 -07:00
c50c92ccc8
Add mjv_connector, identical to mjv_makeConnector but with a more convenient "from-to" parameterization.
...
PiperOrigin-RevId: 542343761
Change-Id: I75f5ff3c404a2a9f65dfed706e590efd7b951f6e
2023-06-21 13:19:36 -07:00
ac1f41160d
Add engine internal error macro mjERROR to prepend calling function to error function.
...
PiperOrigin-RevId: 541584847
Change-Id: I57447e64375413ee07aa96372a402e1ced59ff4a
2023-06-19 03:29:31 -07:00
f67e359532
Add mjtState enum and related mj_stateSize, mj_getState and mj_setState functions.
...
PiperOrigin-RevId: 539667943
Change-Id: I14c34be8ce4c287e529380257b5c5bffc3ab45ce
2023-06-12 08:56:48 -07:00
81d74c56e1
Separate mj_addM into dense and sparse functions.
...
PiperOrigin-RevId: 539066339
Change-Id: Ide3f9644fee46a5fb1a2e79a25be162b929e2421
2023-06-09 06:44:19 -07:00
d82f5ce5a4
Add mjContact.solreffriction, mjModel.pair_solreffriction and related implementation, allowing contact reference acceleration to be different for normal and frictional contact directions. This is required for e.g. elastic frictional collisions.
...
PiperOrigin-RevId: 538513357
Change-Id: Id9eb910fe791cf898c712030cb2c0fc481389c91
2023-06-07 09:40:20 -07:00
455b1cd2e2
Add spaces around comparison operators in engine source files.
...
PiperOrigin-RevId: 535989348
Change-Id: I883f7e82351299933c49b35a31842b5d8d6aea04
2023-05-28 05:02:34 -07:00
f887c1e928
Add ASAN and MSAN instrumentation for arena and mjData stack.
...
PiperOrigin-RevId: 535635490
Change-Id: Ia1e58771bae25bf72c861f57452fb8faa2b918fb
2023-05-26 09:17:26 -07:00
1d79657512
Fix out-of-bound read in mju_combineSparseCount.
...
PiperOrigin-RevId: 535615505
Change-Id: I740d4f50b46ec2a1cd1a5a615fb4312f1bbebd94
2023-05-26 07:44:47 -07:00
cce7fb04d1
Fix out of bounds write in clampedDiff in engine_derivative_fd.c
...
PiperOrigin-RevId: 535234007
Change-Id: I1ca54df1324346cd250409125939fdf6f63cee04
2023-05-25 06:25:08 -07:00
c66d79409c
Change mj_ray behaviour to match geom visualisation conventions:
...
- Planes and height-fields respect `mj_ray`'s `geom_group` argument.
- The `flg_static` argument now applies to all static geoms, not only those directly in the world body.
Before this change:
- Rays always intersected with height fields and planes, unless `flg_static` was set to 0.
- `flg_static` only applied to static geoms that were direct children of the world, but not geoms that were children of static bodies.
PiperOrigin-RevId: 534969091
Change-Id: I8dc7c320c63d6af95709b9f5e83a3c50e1c199fa
2023-05-24 13:52:21 -07:00
55c7f45dc5
Fix sparse matmul logic in addJTBJSparse.
...
Also rename arguments and loop variables in `addJTBJSparse` for additional clarity.
PiperOrigin-RevId: 534908360
Change-Id: I143ef5aef7ff90091369d408740f7f44d9e19378
2023-05-24 11:02:35 -07:00
d82465d710
Fix use of uninitialised memory.
...
PiperOrigin-RevId: 534783070
Change-Id: I4fddc983a8ac7213049366d909c57c303ab0e521
2023-05-24 04:39:57 -07:00
03d6d27f64
Use mesh BVH for speeding up ray mesh intersection.
...
PiperOrigin-RevId: 534141245
Change-Id: I9f5a71ea059a1a232fd2910d1efc0506ab6dbef3
2023-05-22 12:05:20 -07:00
a09246c095
Removed key for visualizing the mesh tree.
...
PiperOrigin-RevId: 533126358
Change-Id: I8b30691c78cbae4b8ad44ac16fb7567b2a131dcf
2023-05-18 07:52:34 -07:00
dab49d487c
Use mesh BVH for speeding up ray mesh intersection.
...
PiperOrigin-RevId: 532516008
Change-Id: Ia9cac060279d030221c1a6b4fad457a857701370
2023-05-16 11:10:38 -07:00
9d1a21f99d
Use mesh BVH for speeding up ray mesh intersection.
...
PiperOrigin-RevId: 532464595
Change-Id: If159c89b93c24e6a7be6310911364cfad7baae81
2023-05-16 08:17:50 -07:00
4ea8218466
If inertia is being visualised, draw body frames at the inertial frame.
...
PiperOrigin-RevId: 532458388
Change-Id: Ie58cea8dee4215ad9e40ef827361bc3793c8f449
2023-05-16 07:55:34 -07:00
b81793371b
Fix typo.
...
PiperOrigin-RevId: 532447706
Change-Id: Icea63f7ebf381906dce03175cdbf16e96c3828d7
2023-05-16 07:09:47 -07:00
fcc825c5e6
Add cutoff argument to mj_multiRay.
...
PiperOrigin-RevId: 532158635
Change-Id: I70f98be9f781c8281e21aa5c17bd85f3654e9383
2023-05-15 10:44:37 -07:00
770b4b363a
Added optional smoothing to muscle dynamics:
...
- `muscle` actuators take a new `tausmooth` attribute (defaults to 0) which when positive, smooths the transition between activation and deactivation timescales.
- `mju_muscleDynamics` takes 3 parameters, adding width of smoothing sigmoid.
PiperOrigin-RevId: 531473354
Change-Id: I8ab6c0289ff04437e798c3ca6edda132a30fcc31
2023-05-12 04:58:53 -07:00
133b8d0978
Make MuJoCo buildable with Visual Studio 2019 update 7 and earlier.
...
Also enable MSVC 2019 builds on GitHub Actions.
Fixes #862 .
PiperOrigin-RevId: 531167754
Change-Id: I17687fb287c38a7f2245c6f7ba59a22b772e3a8c
2023-05-11 04:54:53 -07:00
4c487e07ed
Add mesh BVH.
...
PiperOrigin-RevId: 530559807
Change-Id: Ibdafae22c7c74d15d707f205be73e4a571a6ae10
2023-05-09 03:31:06 -07:00
49066e1794
equivalent but clearer quat-diff call in mj_differentiatePos
...
PiperOrigin-RevId: 530075836
Change-Id: I3bbe5dec17ccdf53c372bb81087dddde30a24c5c
2023-05-07 02:21:52 -07:00
49efa9cc15
Change finite-support mju_sigmoid from a two-quadratic construction to a single quintic with zero 1st and 2nd derivatives at 0 and 1, the boundary of the smooth-support segment.
...
Note: this function is currently unused in the MuJoCo codebase.
PiperOrigin-RevId: 529969804
Change-Id: I2bddc72916eff67625b806510935bc7f3ce5c770
2023-05-06 09:22:37 -07:00
496755a55d
Fix mju_getfiledir when the path contains a mixture of / and \.
...
PiperOrigin-RevId: 529754511
Change-Id: Ifce2b86bc339a8cae584db639b7901b270e56384
2023-05-05 10:35:55 -07:00
67f0f5154f
Add various improvements for resource providers.
...
PiperOrigin-RevId: 529706437
Change-Id: I20385e031446674584349c301982dbe13b812477
2023-05-05 07:03:49 -07:00
b798f89212
Fix bug with the position of bounding sphere in mj_multiRay.
...
PiperOrigin-RevId: 529665457
Change-Id: I486a094303b3b26c8067f8be7aca03afbe8e6217
2023-05-05 02:53:11 -07:00
90813b8198
Add mjd_subQuat (private function)
...
PiperOrigin-RevId: 529418945
Change-Id: I6764ae866b13482ef3aa951f427b58cae007c301
2023-05-04 08:40:34 -07:00
267299fb59
Change elevation to [0,pi] in mj_multiRay.
...
PiperOrigin-RevId: 529393944
Change-Id: I23f3113fd91e909fa1dc23b620d66e963db59355
2023-05-04 06:43:16 -07:00
7e49d935ba
mj_multiRay: Reset elevation angle if crossing the coordinate singularity.
...
PiperOrigin-RevId: 529341397
Change-Id: I0ca6ed5b97bcc585b0f426d6fb8a6b4cf9367a2b
2023-05-04 01:50:38 -07:00
42a16f65c2
Fix typo in mjd_inverseFD documentation.
...
PiperOrigin-RevId: 529022023
Change-Id: I2f9e014e271910989f96cd9bfd28c6adaf2e62e5
2023-05-03 01:30:44 -07:00
b0bc330b54
Add utility functions for banded-then-dense symmetric matrices.
...
PiperOrigin-RevId: 528757637
Change-Id: I916d843140322c28e857100a6b305a041f704d53
2023-05-02 05:58:08 -07:00
2ad82d5998
Add mj_multiRay function to perform multiple ray intersection with the same source.
...
PiperOrigin-RevId: 528684535
Change-Id: I6e1747a4a0910e6061d6154e19ad8723f56c22e3
2023-05-01 23:02:45 -07:00
c50177d301
Add mjd_inverseFD for finite-difference approximations of inverse dynamics Jacobians.
...
Fixes #703 .
PiperOrigin-RevId: 527899700
Change-Id: I10e41a381dcecf62c53b3b9aa72a4ce666161366
2023-04-28 09:04:41 -07:00
90e14ac8d0
Bump version number to 2.3.6.
...
Going forward, the version number at head will be kept one ahead of the latest released version. The rationale behind this change is so that it is clear that the source code at head is more recent.
PiperOrigin-RevId: 527687981
Change-Id: I7982ecd0b99ad70dccec6a8ffe86629754558bda
2023-04-27 14:40:32 -07:00
e3cdc410d6
Rename centered argument of mjd_transitionFD to flg_centered, to conform with the rest of the API.
...
PiperOrigin-RevId: 527258079
Change-Id: I77817be8ee007a572c79e9cd41f7c5728a091fb3
2023-04-26 07:18:52 -07:00
23961e24b7
Refactor user codebase to use LoadResource helper method.
...
* Fix small bug when registering resource providers.
* Add test cases for OS filesystem fallback with VFS.
* Rewrite LoadModelFromString using a resource provider (now can pass custom VFSs).
PiperOrigin-RevId: 526959705
Change-Id: Iee1773e5584535d868aab6b206d1bf362e600c8a
2023-04-25 07:24:45 -07:00
db3b49b60f
Bump version number to 2.3.5.
...
PiperOrigin-RevId: 526918869
Change-Id: I9f19600b0c1b855ef0834e5c026b204bf1dc06c4
2023-04-25 03:52:12 -07:00
Saran Tunyasuvunakool